diff --git a/.github/workflows/push.yml b/.github/workflows/push.yml
index fcf56ce63..f1c5c0eed 100644
--- a/.github/workflows/push.yml
+++ b/.github/workflows/push.yml
@@ -18,7 +18,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v3
       with:
-        python-version: '3.8'
+        python-version: '3.10'
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index bb2923cfa..0f8163e82 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -23,7 +23,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v3
       with:
-        python-version: '3.8'
+        python-version: '3.10'
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
@@ -44,7 +44,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v3
       with:
-        python-version: '3.8'
+        python-version: '3.10'
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
diff --git a/README.md b/README.md
index e013a98cf..9f3d6b087 100644
--- a/README.md
+++ b/README.md
@@ -1,26 +1,30 @@
 # gym-pybullet-drones
 
-2023 remastering
+![video](files/readme_images/helix.gif) ![control](files/readme_images/helix.png)
 
 ## Installation
 
-TBD
-
 ```sh
-tbd
+git clone https://github.com/utiasDSL/gym-pybullet-drones.git
+cd gym-pybullet-drones/
+
+conda create -n drones python=3.10
+conda activate drones
+
+pip3 install --upgrade pip
+pip3 install -e .
 ```
 
 ## Use
 
-TBD
-
 ```sh
-tbd
+cd gym_pybullet_drones/examples/
+python3 pid.py
 ```
 
 ## Citation
 
-If you wish, please cite our work [(link)](https://arxiv.org/abs/2103.02142) as
+If you wish, please cite [our IROS 2021 paper](https://arxiv.org/abs/2103.02142) as
 
 ```bibtex
 @INPROCEEDINGS{panerati2021learning,
@@ -30,8 +34,8 @@ If you wish, please cite our work [(link)](https://arxiv.org/abs/2103.02142) as
       year={2021},
       volume={},
       number={},
-      pages={},
-      doi={}
+      pages={7512-7519},
+      doi={10.1109/IROS51168.2021.9635857}
 }
 ```
 
diff --git a/gym_pybullet_drones/envs/__init__.py b/gym_pybullet_drones/envs/__init__.py
index 6585dce8e..15a98e4e9 100644
--- a/gym_pybullet_drones/envs/__init__.py
+++ b/gym_pybullet_drones/envs/__init__.py
@@ -1,4 +1,3 @@
 from gym_pybullet_drones.envs.CtrlAviary import CtrlAviary
-from gym_pybullet_drones.envs.DynAviary import DynAviary
 from gym_pybullet_drones.envs.VelocityAviary import VelocityAviary
 from gym_pybullet_drones.envs.VisionAviary import VisionAviary
diff --git a/gym_pybullet_drones/examples/pid-velocity.py b/gym_pybullet_drones/examples/pid_velocity.py
similarity index 100%
rename from gym_pybullet_drones/examples/pid-velocity.py
rename to gym_pybullet_drones/examples/pid_velocity.py
diff --git a/pyproject.toml b/pyproject.toml
index 7b1b1147a..f618ca2a2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,17 +12,13 @@ packages = [
 
 [tool.poetry.dependencies]
 python = "^3.8"
-numpy = "^1.22"
-Pillow = "^9.0"
-matplotlib = "^3.5"
-cycler = "^0.10"
+numpy = "^1.24"
+scipy = "^1.10"
+matplotlib = "^3.7"
+pybullet = "^3.2.5"
+stable-baselines3 = "^1.8.0"
+torch = "^2.0.0"
 gym = "^0.21"
-pybullet = "^3.2"
-stable-baselines3 = "1.5.0"
-scipy = "^1.8"
-torch = "1.11.0"
-"ray[rllib]" = "1.9"
-tensorboard = "^2.9"
 
 [tool.poetry.dev-dependencies]
 
diff --git a/tests/test_examples.py b/tests/test_examples.py
index 8ded78358..b49bcfe52 100644
--- a/tests/test_examples.py
+++ b/tests/test_examples.py
@@ -1,23 +1,15 @@
-def test_compare():
-    from gym_pybullet_drones.examples.compare import run
-    run(gui=False,plot=False,output_folder='tmp')
-
 def test_downwash():
     from gym_pybullet_drones.examples.downwash import run
     run(gui=False,plot=False,output_folder='tmp')
 
 def test_fly():
-    from gym_pybullet_drones.examples.fly import run
-    run(gui=False,plot=False,output_folder='tmp')
-
-def test_groundeffect():
-    from gym_pybullet_drones.examples.groundeffect import run
+    from gym_pybullet_drones.examples.pid import run
     run(gui=False,plot=False,output_folder='tmp')
 
 def test_learn():
-    from gym_pybullet_drones.examples.learn import run
+    from gym_pybullet_drones.examples.learning.learn import run
     run(gui=False,plot=False,output_folder='tmp')
 
 def test_velocity():
-    from gym_pybullet_drones.examples.velocity import run
+    from gym_pybullet_drones.examples.pid_velocity import run
     run(gui=False,plot=False,output_folder='tmp')
diff --git a/tests/test_experiments.py b/tests/test_experiments.py
deleted file mode 100644
index 18bf9a78d..000000000
--- a/tests/test_experiments.py
+++ /dev/null
@@ -1,28 +0,0 @@
-import sys
-import glob
-
-def test_single_agent():
-    initial_models = set(glob.glob('**/best_model.zip', recursive=True))
-    sys.path.append('experiments/learning/')
-    from experiments.learning.singleagent import run as run_train
-    run_train(steps=30, output_folder='tmp')
-
-    from experiments.learning.test_singleagent import run as run_test
-    new_models = set(glob.glob('**/best_model.zip', recursive=True))
-    test_model = new_models - initial_models
-    assert len(test_model) > 0, initial_models
-    path = '/'.join(next(iter(test_model)).split('/')[:-1])
-    run_test(path, plot=False, gui=False, output_folder='tmp')
-
-# def test_multi_agent(self):
-#     initial_models = set(glob.glob('**/best_model.zip', recursive=True))
-#     sys.path.append('experiments/learning')
-#     from experiments.learning.multiagent import run as run_train
-#     run_train(steps=30, output_folder='tmp')
-
-#     from experiments.learning.test_multiagent import run as run_test
-#     new_models = set(glob.glob('**/best_model.zip', recursive=True))
-#     test_model = new_models - initial_models
-#     assert len(test_model) > 0, initial_models
-#     path = '/'.join(next(iter(test_model)).split('/')[:-1])
-#     run_test(path, plot=False, gui=False, output_folder='tmp')